Introduction

C • The instantaneous center method

of analyzing the motion in a
mechanism is based upon the
Kinematics and Dynamics of Machines concept that any displacement of
a body having motion in one plane,
can be considered as a pure
2. Kinematic Analysis of Mechanisms rotational motion of a rigid link as
whole about some center, known
(Instantaneous Center Method) as instantaneous center or virtual
vB center of motion.
B

A
1 vA 2

Definition Number of Instantaneous Centers

• There are two definitions for instantaneous center: • The number of instantaneous centers in a considered
kinematic chain is equal to number of combinations of two
1. Instantaneous center is a point on a member which another links:
member rotates around, permanently or instantaneously.

2. Instantaneous center is a point in common between two

n ( n − 1)
members where the velocities are equal, both in direction N = , n = Number of links
and magnitude. 2

3 4
Kennedy’s Theorem Types of Instantaneous Centers

• The Kennedy's theorem states • The instantaneous centers for a mechanism are of the
that if three bodies move following three types:
relatively to each other, they
have three instantaneous 1- Fixed instantaneous centers
centers that lie on a straight
line. 2- Permanent instantaneous centers

3- Neither fixed nor permanent instantaneous centers

• The first two types are together known as primary

instantaneous centers and the third type is known as
secondary instantaneous centers

5 6

Example: Consider a four-bar ABCD mechanism as shown in the figure: Location of Instantaneous Centers

• The instantaneous centers I12 and I14 are called the
fixed instantaneous centers.
• The instantaneous centers I23 and I34 are the permanent
instantaneous centers as they move when the
mechanism moves, but the joints are of the permanent
nature.
• The instantaneous centers I13 and I24 are neither fixed
nor permanent instantaneous centers as the vary with
the configuration of the mechanism.
1. When the two links are connected by a pin joint, the
instantaneous center lies on the center of the pin
2. When the two links have a pure rolling contact, the
instantaneous point lies on their point of contact
3. When the two points have a sliding contact, the
instantaneous center lies on the common normal at the point
of contact (the members must have the same component of
velocity in the direction normal to the sliding surface).

7 8
 Locating Instantaneous Centers in a Mechanism

1. First of all, determine the number of instantaneous centers.

2. Locate the fixed and permanent centers by inspection.

3. Locate the remaining neither fixed nor permanent centers by

Kennedy’s theorem (this is done by circle diagram)

4. On the circle diagram, join the points by solid lines to show that
these centers are already found

5. To find the other instantaneous centers, join the two corresponding

points. The line joining them forms two adjacent triangles in the
circle diagram.

9 10

11 12
 13
Space and body centrode
• The locus of the
instantaneous center in
space during a definite
motion of the body is called
space centode
• The locus of instantaneous
center relative to the body
itself is named the body
centrode
15
14
Equivalent Mechanisms
• Two Mechanisms are kinematical
and instantly equivalent if the
velocity and the acceleration of
the drivers and the followers are
equal in both mechanisms
16